1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
|
/*
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
#include "ch.hpp"
#include "hal.h"
#include "test.h"
using namespace chibios_rt;
/*
* LED blink sequences.
* NOTE: Sequences must always be terminated by a GOTO instruction.
* NOTE: The sequencer language could be easily improved but this is outside
* the scope of this demo.
*/
#define SLEEP 0
#define GOTO 1
#define STOP 2
#define BITCLEAR 3
#define BITSET 4
typedef struct {
uint8_t action;
uint32_t value;
} seqop_t;
// Flashing sequence for LED1.
static const seqop_t LED1_sequence[] =
{
{BITCLEAR, PAL_PORT_BIT(GPIOC_LED)},
{SLEEP, 200},
{BITSET, PAL_PORT_BIT(GPIOC_LED)},
{SLEEP, 800},
{BITCLEAR, PAL_PORT_BIT(GPIOC_LED)},
{SLEEP, 400},
{BITSET, PAL_PORT_BIT(GPIOC_LED)},
{SLEEP, 600},
{BITCLEAR, PAL_PORT_BIT(GPIOC_LED)},
{SLEEP, 600},
{BITSET, PAL_PORT_BIT(GPIOC_LED)},
{SLEEP, 400},
{BITCLEAR, PAL_PORT_BIT(GPIOC_LED)},
{SLEEP, 800},
{BITSET, PAL_PORT_BIT(GPIOC_LED)},
{SLEEP, 200},
{GOTO, 0}
};
/*
* Sequencer thread class. It can drive LEDs or other output pins.
* Any sequencer is just an instance of this class, all the details are
* totally encapsulated and hidden to the application level.
*/
class SequencerThread : public BaseStaticThread<128> {
private:
const seqop_t *base, *curr; // Thread local variables.
protected:
virtual msg_t main(void) {
while (true) {
switch(curr->action) {
case SLEEP:
sleep(curr->value);
break;
case GOTO:
curr = &base[curr->value];
continue;
case STOP:
return 0;
case BITCLEAR:
palClearPort(GPIOC, curr->value);
break;
case BITSET:
palSetPort(GPIOC, curr->value);
break;
}
curr++;
}
}
public:
SequencerThread(const seqop_t *sequence) : BaseStaticThread<128>() {
base = curr = sequence;
}
};
/*
* Tester thread class. This thread executes the test suite.
*/
class TesterThread : public BaseStaticThread<256> {
protected:
virtual msg_t main(void) {
setName("tester");
return TestThread(&SD2);
}
public:
TesterThread(void) : BaseStaticThread<256>() {
}
};
/* Static threads instances.*/
static TesterThread tester;
static SequencerThread blinker1(LED1_sequence);
/*
* Application entry point.
*/
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
System::init();
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD2, NULL);
/*
* Starts several instances of the SequencerThread class, each one operating
* on a different LED.
*/
blinker1.start(NORMALPRIO + 10);
/*
* Serves timer events.
*/
while (true) {
if (palReadPad(GPIOA, GPIOA_BUTTON)) {
tester.start(NORMALPRIO);
tester.wait();
};
BaseThread::sleep(MS2ST(500));
}
return 0;
}
|
